Professional Documents
Culture Documents
G120 Fieldbus FCT Man 1120 en-US
G120 Fieldbus FCT Man 1120 en-US
Fundamental safety
instructions 1
2
SINAMICS General information
Communication via
PROFIBUS and PROFINET 3
SINAMICS G120, G120P, G120C,
G120D, G110M, G115D Communication via
4
Fieldbuses EtherNet/IP
Appendix A
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
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Preface
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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions ........................................................................................................... 9
1.1 General safety instructions ................................................................................................... 9
1.2 Warranty and liability for application examples ................................................................... 10
1.3 Security information .......................................................................................................... 11
2 General information ............................................................................................................................ 13
2.1 Ethernet and PROFINET protocols that are used .................................................................. 14
3 Communication via PROFIBUS and PROFINET ..................................................................................... 17
3.1 PROFIDRIVE profile - Cyclic communication......................................................................... 17
3.1.1 Assigning control and status words .................................................................................... 21
3.1.1.1 Control and status word 1 .................................................................................................. 21
3.1.1.2 Control and status word 2 .................................................................................................. 24
3.1.1.3 Control and status word 3 .................................................................................................. 25
3.1.2 NAMUR message word ....................................................................................................... 27
3.1.3 Control and status word, encoder ...................................................................................... 28
3.1.4 Position actual value of the encoder ................................................................................... 30
3.1.5 Extend telegrams and change signal interconnection ......................................................... 32
3.1.6 Data structure of the parameter channel ............................................................................ 37
3.1.6.1 Application examples ......................................................................................................... 46
3.1.7 Slave-to-slave communication............................................................................................ 48
3.2 PROFIDRIVE profile - Acyclic communication ....................................................................... 49
3.3 PROFIdrive profile - Diagnostic channels ............................................................................. 54
3.3.1 Diagnostics with PROFINET ................................................................................................ 55
3.3.2 Diagnostics with PROFIBUS ................................................................................................ 57
3.4 Identification & maintenance data (I&M) ............................................................................ 61
3.5 S7 communication ............................................................................................................. 62
3.5.1 Directly accessing a SINAMICS G120 converter from a SIMATIC panel.................................. 62
3.6 Communication via PROFINET ............................................................................................ 66
3.6.1 Converter with PROFINET interface..................................................................................... 68
3.6.2 Integrating converters into PROFINET ................................................................................. 70
3.6.3 PROFINET IO operation....................................................................................................... 71
3.6.3.1 What do you have to set for communication via PROFINET? ................................................ 71
3.6.3.2 Configuring communication to the control ......................................................................... 71
3.6.3.3 Installing GSDML ............................................................................................................... 73
3.6.3.4 Activating diagnostics via the control ................................................................................. 73
3.6.4 PROFIenergy ...................................................................................................................... 74
3.6.4.1 Energy-saving mode .......................................................................................................... 74
3.6.4.2 Control commands ............................................................................................................ 75
3.6.4.3 Status queries .................................................................................................................... 76
3.6.4.4 Error values and measured values ...................................................................................... 77
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Table of contents
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Table of contents
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Table of contents
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Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are
not observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
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Fundamental safety instructions
1.2 Warranty and liability for application examples
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Fundamental safety instructions
1.3 Security information
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states
in your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.
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General information 2
Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control
Unit with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with
G115D). You can find additional details in the operating instructions for the converter or the
Control Unit.
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General information
2.1 Ethernet and PROFINET protocols that are used
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General information
2.1 Ethernet and PROFINET protocols that are used
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Communication via PROFIBUS and PROFINET 3
3.1 PROFIDRIVE profile - Cyclic communication
Depending on the Control Unit or converter, there are different telegrams for communication
via PROFIBUS DP or PROFINET IO. The structure of the individual telegrams are listed below.
The Startdrive commissioning tool or an operator panel only list the telegrams for selection
that are possible with your particular converter.
Commissioning the converter and selecting a telegram are described in the operating
instructions.
Overview of the manuals (Page 244)
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Figure 3-8 16-bit speed setpoint with PKW range to read and write parameters
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Figure 3-9 16-bit speed setpoint for PCS7 with PKW range to read and write parameters
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The telegrams use - with the exception of telegram 999 (free interconnection) - the word-by-
word transfer of send and receive data (r2050/p2051).
If you require an individual telegram for your application (e.g. for transferring double words),
you can adapt one of the predefined telegrams using parameters p0922 and p2079. For
details, please refer to the List Manual, function diagrams 2420 and 2472.
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Function description
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The converter transfers the position values in the same format (encoder pulse number and
fine resolution) the same as G1_XIST1 and G2_XIST1.
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Overview
When you have selected a telegram, the converter interconnects the corresponding signals
with the fieldbus interface. Generally, these interconnections are locked so that they cannot
be changed. However, with the appropriate setting in the converter, the telegram can be
extended or even freely interconnected.
Function description
In the converter, the send data are available in the "Word" format (p2051) - and in the
"Double word" format (p2061). If you set a specific telegram, or you change the telegram, the
converter automatically interconnects parameters p2051 and p2061 with the appropriate
signals.
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Example
You wish to extend telegram 1 to 6 send words and 6 receive words. You want to test the
extension by initiating that the converter returns each receive word back to the higher-level
control system.
Procedure
1. p0922 = 999
2. p2079 = 1
3. p2051[2] = r2050[2]
4. …
5. p2051[5] = r2050[5]
6. Test the telegram length for received and sent words:
– r2067[0] = 6
– r2067[1] = 6
You wish to extend telegram 1 to 6 send words and 6 receive words.
❒
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Parameter
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Parameter
Parameter Description
p0922 PROFIdrive telegram selection
999: Free telegram (message frame) configuration
p2079 PROFIdrive PZD telegram selection extended
The following values apply if you have still not enabled the "Basic positioner" function
in the converter:
1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
20: Standard telegram 20, PZD-2/6
350: SIEMENS telegram 350, PZD-4/4
352: SIEMENS telegram 352, PZD-6/6
353: SIEMENS telegram 353, PZD-2/2, PKW-4/4
354: SIEMENS telegram 354, PZD-6/6, PKW-4/4
999: Free telegram configuration
The following values apply if you have enabled the "Basic positioner" function in the
converter:
7: Standard telegram 7, PZD-2/2
9: Standard telegram 9, PZD-10/5
110: SIEMENS telegram 110, PZD-12/7
111: SIEMENS telegram 111, PZD-12/12
999: Free telegram configuration
r2050[0…11] PROFIdrive PZD receive word
Received PZD (setpoints) in the word format
p2051[0…16] PROFIdrive PZD send word
Sent PZD (actual values) in the word format
For further information about receive and send words, refer to the function block diagrams
2468 and 2470 in the List Manual.
Overview of the manuals (Page 244)
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Overview
The parameter channel allows parameter values to be cyclically read and written to.
Function description
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AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number
to the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter chan-
nel interface
1) The required element of the parameter is specified in IND (2nd word).
2) The required element of the indexed parameter is specified in IND (2nd word).
No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot
be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value
limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 with-
out permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tem-
porary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is
illegal for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be
found in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the converter
prevents a parameter change)
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No. Description
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter
prevents a parameter change)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies with-
in the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large
for the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not availa-
ble)
Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.
PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the con-
nector
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Examples
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of indexed parameter p7841, you must fill the parameter channel with
the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)
• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
Figure 3-18 A parameter channel to activate the automatic restart with p1210 = 26
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Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the parameter channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
• IND, bit 8 … 15 (subindex): = 1 hex (CDS1 = Index 1)
• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, Bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
• PWE2, Bit 10 … 15: = 3F hex (drive object - for SINAMICS G120, always 63 = 3f hex)
• PWE2, Bit 0 … 9: = 2 hex (Index of Parameter (DI 2 = 2))
Function description
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AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number
to the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter chan-
nel interface
1) The required element of the parameter is specified in IND (2nd word).
2) The required element of the indexed parameter is specified in IND (2nd word).
No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot
be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value
limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 with-
out permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tem-
porary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is
illegal for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be
found in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the conerter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter
prevents a parameter change)
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No. Description
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies with-
in the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large
for the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not availa-
ble)
Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.
PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the con-
nector
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Examples
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)
• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.
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PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the con-
nector
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Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)
• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
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Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must populate the telegram of the
parameter channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
• IND, bit 8 … 15 (subindex): = 1 hex (CDS1 = Index 1)
• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, Bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
• PWE2, Bit 10 … 15: = 3F hex (drive object - for SINAMICS G120, always 63 = 3f hex)
• PWE2, Bit 0 … 9: = 2 hex (Index of Parameter (DI 2 = 2))
Example
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Definitions
• Publisher: Slave, which sends data for direct data exchange.
• Subscriber: Slave, which receives the data for direct data exchange from the publisher.
• Links and access points define the data that is used for direct data exchange.
Restrictions
• Direct data exchange in the current firmware version is only possible for converters with
PROFIBUS communication.
• A maximum of 12 PZDs are permissible for each drive.
• A maximum of four links are possible from one subscriber to one or several publishers.
Procedure
1. In the control, define:
– Which converters operate as publisher (sender) or subscriber (receiver)?
– Which data or data areas do you use for direct data exchange?
2. In the converter, define:
How does the subscriber process the data transferred using direct data exchange?
You have now configured slave-to-slave communication.
❒
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3.2 PROFIDRIVE profile - Acyclic communication
Note
Values in italics
Values in italics in the following tables mean that you have to adjust these values for a
specific request.
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3.2 PROFIDRIVE profile - Acyclic communication
Table 3- 15 Response if the converter was not able to completely execute the change request
Error values
Error Significance
value 1
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a parameter index that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element that cannot be changed)
09 hex Description data not available (access to a description that does not exist, parameter value is available)
0B hex No master control (change request but with no master control)
0F hex Text array does not exist (although the parameter value is available, the request is made to a text array that
does not exist)
11 hex Request cannot be executed due to the operating state (access is not possible for temporary reasons that are
not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal for other perma-
nent reasons, i.e. a parameter with defined individual values)
15 hex Response too long (the length of the actual response exceeds the maximum transfer length)
16 hex Illegal parameter address (illegal or unsupported value for attribute, number of elements, parameter number,
subindex or a combination of these)
17 hex Illegal format (change request for an illegal or unsupported format)
18 hex Number of values not consistent (number of values of the parameter data to not match the number of ele-
ments in the parameter address)
19 hex Drive object does not exist (access to a drive object that does not exist)
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Error Significance
value 1
20 hex Parameter text cannot be changed
21 hex Service is not supported (illegal or not support request ID).
6B hex A change request for a controller that has been enabled is not possible. (The converter rejects the change
request because the motor is switched on. Observe the "Can be changed" parameter attribute (C1, C2, U, T) in
the parameter list.
Manuals and technical support (Page 244)
6C hex Unknown unit.
6E hex Change request is only possible when the motor is being commissioned (p0010 = 3).
6F hex Change request is only possible when the power unit is being commissioned (p0010 = 2).
70 hex Change request is only possible for quick commissioning (basic commissioning) (p0010 = 1).
71 hex Change request is only possible if the converter is ready (p0010 = 0).
72 hex Change request is only possible for a parameter reset (restore to factory setting) (p0010 = 30).
73 hex Change request possible only during commissioning of the safety functions (p0010 = 95).
74 hex Change request is only possible when a technological application/unit is being commissioned (p0010 = 5).
75 hex Change request is only possible in a commissioning state (p0010 ≠ 0).
76 hex Change request is not possible for internal reasons (p0010 = 29).
77 hex Change request is not possible during download.
81 hex Change request is not possible during download.
82 hex Accepting the master control is inhibited via BI: p0806.
83 hex Desired interconnection is not possible (the connector output does not supply a float value although the con-
nector input requires a float value)
84 hex Converter does not accept a change request (converter is busy with internal calculations. See parameter
r3996 in the parameter list.
Manuals and technical support (Page 244)
85 hex No access methods defined.
86 hex Write access only during commissioning of the data records (p0010 = 15) (operating status of the converter
prevents a parameter change.)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within the "absolute" lim-
its, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for the converter
power)
CC hex Change request not permitted (change is not permitted as the access code is not available)
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3.3 PROFIdrive profile - Diagnostic channels
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9000 hex Hardware/software error 900A hex Position/speed actual value incorrect or not
available
9001 hex Network fault 900B hex Internal (DRIVE-CLiQ) communication error
9002 hex Supply voltage fault 900C hex Infeed faulted
9003 hex DC link overvoltage 900D hex Braking module faulted
9004 hex Power electronics faulted 900E hex Line filter faulted
9005 hex Overtemperature of the electronic components 900F hex External measured value / signal state outside
the permissible range
9006 hex Ground fault / inter-phase short circuit 9010 hex Application / technological function faulted
9007 hex Motor overload 9011 hex Error in the parameterization / configuration
/commissioning procedure
9008 hex Communication error to the higher-level control 9012 hex General drive fault
system
9009 hex Safety monitoring channel has identified an 9013 hex Auxiliary unit faulted
error
Figure 3-24 Structure of the channel diagnostics
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3.3 PROFIdrive profile - Diagnostic channels
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Note
Precondition for diagnostics via PROFIBUS
The master must operate in the DPV1 mode for diagnostics via PROFIBUS.
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3.3 PROFIdrive profile - Diagnostic channels
Standard diagnostics
Identifier-related diagnostics
The identifier-related diagnostics provides a bit (KB_n) for each slot allocated when configuring the
device. If a diagnostics message is active at a slot, then its KB_n = 1.
For G120 only one slot is allocated:
• KB_0 when configuring with the GSD
• KB_3 when configuring with the object manager
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For G120, independent of the status, for all slots “00” is always output, i.e. valid user data.
Channel-related diagnostics
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A table with the message classes is provided in the List Manual of the converter.
Overview of the manuals (Page 244)
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3.4 Identification & maintenance data (I&M)
I&M data
The converter supports the following identification and maintenance (I&M) data.
When requested, the converter transfers its I&M data to a higher-level control or to a PC/PG
with installed STEP 7 or TIA Portal.
I&M0
Designation Format Example for the con- Valid for Valid for
tent PROFINET PROFIBUS
Manufacturer-specific u8[10] 00 … 00 hex --- ✓
MANUFACTURER_ID u16 42d hex (=Siemens) ✓ ✓
ORDER_ID Visible String [20] "6SL3246-0BA22-1FA0" ✓ ✓
SERIAL_NUMBER Visible String [16] "T-R32015957" ✓ ✓
HARDWARE_REVISION u16 0001 hex ✓ ✓
SOFTWARE_REVISION char, u8[3] "V" 04.70.19 ✓ ✓
REVISION_COUNTER u16 0000 hex ✓ ✓
PROFILE_ID u16 3A00 hex ✓ ✓
PROFILE_SPECIFIC_TYPE u16 0000 hex ✓ ✓
IM_VERSION u8[2] 01.02 ✓ ✓
IM_SUPPORTED bit[16] 001E hex ✓ ✓
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3.5 S7 communication
3.5 S7 communication
Communication via the S7 protocol facilitates the following:
• Access to the converter with Startdrive.
• Remote maintenance of the converter with Startdrive across network boundaries.
Remote maintenance across network boundaries
(https://support.industry.siemens.com/cs/ww/en/view/97550333)
• Control of the converter directly via SIMATIC Panels via PROFIBUS or PROFINET without
higher-level control.
Directly accessing a SINAMICS G120 converter from a SIMATIC panel (Page 62)
Note
Number of S7 protocol connections
The converter supports four S7 protocol connections. Two of these are required for
Startdrive. Each of the remaining two are available for access to the converter via SIMATIC
Panels.
Requirements
You have installed the following software packages on your computer and made the
following settings:
• WINCCflex 2008 SP1 or higher
• Startdrive
• You have now configured the converter in Startdrive.
• Converter and panel are connected with one another via PROFIBUS or PROFINET.
• The same baud rates are set in the converter and in the panel.
• The bus address configured in WinCC flexible matches the bus address of the converter.
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G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x
G120C
• G120C PN x
G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
G110M
• CU240M PN x
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G115D
• G115D PN x
(X150 P1/P2)
Recommended connector
RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 plug 180
can be found on the Internet:
Assembly instructions for the SIMATIC NET Industrial Ethernet FastConnect RJ45 plug
(http://support.automation.siemens.com/WW/view/en/37217116/133300)
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3.6 Communication via PROFINET
Note
PROFINET interface X150
The network with which interface X150 is connected must be separated from the rest of the
plant network in accordance with the Defense in Depth concept. Manual access to cables and
any open connections must be protected as in a control cabinet.
Procedure
1. Integrate the converter in the bus system (e.g. ring topology) of the control using PROFINET
cables and the two PROFINET sockets X150-P1 and X150-P2 or X03 and X04.
The position of the sockets is given in the operating instructions for the converter.
Pin assignment: Converter with PROFINET interface (Page 68).
The maximum permitted cable length from the previous station and to the subsequent
one is 100 m.
2. Externally supply the converter with 24 V DC through terminals 31 and 32 or via X01
(X01/X02 with G115D).
The external 24 V supply is only required if communications with the control system
should also operate when the line voltage is switched off.
You have connected the converter to the control using PROFINET.
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Questions Answer/description
Is the converter correctly connected to the bus net- Integrating converters into PROFINET (Page 70)
work?
Do the IP address and device name in the converter and Configuring communication to the control (Page 71)
control match?
Is the same telegram set in the converter as in the Setting the telegram in the control
higher-level control?
Are the signals that the converter and the control ex- Interconnect signals in the converter in conformance with
change via PROFINET correctly interconnected? PROFIdrive.
PROFIDRIVE profile - Cyclic communication (Page 17)
PROFIDRIVE profile - Acyclic communication (Page 49)
Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control
Unit with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with
G115D). You can find additional details in the operating instructions for the converter or the
Control Unit.
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Procedure
1. Save the GSDML to your PC.
– With Internet access:
GSDML (https://support.industry.siemens.com/cs/ww/en/ps/13222/dl)
– Without Internet access:
Insert a memory card into the converter.
Set p0804 = 12.
The converter writes the GSDML as a zipped file (*.zip) into directory
/SIEMENS/SINAMICS/DATA/CFG on the memory card.
2. Unzip the GSDML file on your computer.
3. Import the GSDML into the engineering system of the controller.
You have now installed the GSDML in the engineering system of the controller.
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3.6 Communication via PROFINET
3.6.4 PROFIenergy
Overview
PROFIenergy is a standard based on PROFINET. PROFIenergy is certified and described in the
PROFIenergy profile of the PNO.
The higher-level controller transfers the control commands and status queries in acyclic
operation via data record 80A0 hex.
The converter supports PROFIenergy profile V1.1 and function unit class 3.
G110M, G120 and G120C converters support energy-saving mode 2.
G120D converters support energy-saving mode 1.
Function description
Behavior of the converter with active energy-saving mode 2:
• The converter outputs alarm A08800.
• The RDY LED flashes green: 500 ms on, 3 000 ms off.
Example
You can find an application example for PROFIenergy on the Internet:
PROFIenergy - saving energy with SIMATIC S7
(https://support.industry.siemens.com/cs/ww/en/view/41986454)
Parameters
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Function description
Command Explanation
Start_Pause Switches to the energy-saving mode depending on the pause dura-
tion.
Start_Pause_with_time_respons Switches to the energy-saving mode depending on the pause dura-
e tion and also specifies the transition times in the command re-
sponse
End_Pause Switches from the energy-saving mode to the operating state.
Cancels switching from the operating state to energy-saving mode.
Settings
• Minimum pause time: p5602
– When the pause time sent using the command "Start_Pause" is equal to or greater than
the value in p5602[1], the converter goes to energy-saving mode.
– If the pause time is less than p5602[1], the converter rejects the command
"Start_Pause" with 50 hex (no appropriate pause mode).
If the controller sends the command "End_Pause" or "Start_Pause" with a pause time of 0,
the motor cannot be switched on. An OFF1/ON command is required to switch the motor
on again.
• Maximum pause time: p5606
• Disable PROFIenergy
If you set p5611.0 = 1, you disable the response of the converter to PROFIenergy control
commands. In this case, the converter rejects the "Start_Pause" command with 50 hex (no
appropriate pause mode).
• Transition to energy-saving mode
– With p5611.2 = 0, you enable the transition to energy-saving mode from operating
state S1 (switching on inhibited) or S2 (ready to switch on).
– With p5611.2 = 1, you enable the transition to energy-saving mode from operating
states S3 (ready for operation) and S4 (operation).
To do this, you must also set the following:
– p5611.1 = 1: With the transition to energy-saving mode, the converter triggers an
OFF1 command and enters the switching on inhibited state (S1).
– p5611.1 = 0: You use p5614 to interconnect a signal source that you use to switch off
the converter and place it in switching on inhibited state (S1).
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Function description
Command Explanation
List_Energy_Saving_Modes Returns all supported energy-saving modes
Get_Mode Returns information about the selected energy-saving mode
PEM_Status Returns the current PROFIenergy status
PEM_Status_with_CTTO Returns the current PROFIenergy status together with the regular
transition time to the operating state
PE_ldentify Returns the supported PROFIenergy commands
Query_Version Returns the implemented PROFIenergy profile
Get_Measurement_List Returns the measured value IDs that can be accessed using the
"Get_Measurement_Values" command
Get_Measurement_List_with_ob Returns the measured value IDs and the associated object number
ject_number that can be accessed using the
"Get_Measurement_Values_with_object_number" command.
Get_Measurement_Values Returns the measured values requested via the measured value ID
Get_Measurement_Values_with Returns the measured values requested via the measured value ID
_object_number and the object number. The object number corresponds to the drive
object ID.
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Function description
Error Meaning
value 1
001 hex Invalid Service_Request_ID
03 hex Invalid Modifier
04 hex Invalid Data_Structure_Identifier_RQ
06 hex No PE energy-saving mode supported
07 hex Response too long
08 hex Invalid block header
50 hex No suitable energy-saving mode available
51 hex Time is not supported
52 hex Impermissible PE_Mode_ID
53 hex No switch to energy saving mode because of state operate
54 hex Service or function temporarily not available
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3.6 Communication via PROFINET
Procedure
1. Set p8924 (PN DHCP mode) = 2 or 3
– p8924 = 2
The DHCP server assigns the IP address based on the MAC address of the converter
– p8924 = 3
The DHCP server assigns the IP address based on the device name of the converter
2. Save the settings with p8925 = 2. The next time that the converter switches on, it retrieves
the IP address. After this, you can address the converter as an Ethernet node.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EtherNet/IP command "Set Attribute Single" (class F5 hex, attribute 3).
The following options are available:
• Via an EtherNet/IP controller
• Via an EtherNet/IP commissioning tool
Displays
r8930: Device name of the converter
r8934: Operating mode, PN or DHCP
r8935: MAC address
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See also
Overview of the manuals (Page 244)
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G120
• CU230P-2 DP x
• CU240B-2 DP x
• CU240E-2 DP x
• CU240E-2 DP-F x
• CU250S-2 DP x
G120C
• G120C DP x
G120D
• CU240D-2 DP x x
• CU240D-2 DP-F x x
• CU250D-2 DP-F x x
G110M
• CU240M DP x x
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Application examples
You can find application examples for PROFIBUS communication on the Internet:
Controlling the speed of a SINAMICS G110M/G120/G120C/G120D with S7-300/400F via
PROFINET or PROFIBUS, with Safety Integrated (via terminal) and HMI
(https://support.industry.siemens.com/cs/ww/en/view/60441457)
Controlling the speed of a SINAMICS G110M / G120 (Startdrive) with S7-1500 (TO) via
PROFINET or PROFIBUS, with Safety Integrated (via terminal) and HMI
(https://support.industry.siemens.com/cs/ww/en/view/78788716)
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Procedure
1. Save the GSD on your PC using one of the following methods.
– With Internet access:
GSD (http://support.automation.siemens.com/WW/view/en/22339653/133100)
– Without Internet access:
Insert a memory card into the converter.
Set p0804 = 12.
The converter writes the GSD as zipped file (*.zip) into directory
/SIEMENS/SINAMICS/DATA/CFG on the memory card.
2. Unzip the GSD file on your computer.
3. Import the GSD in the engineering system of the controller.
You have now installed the GSD file in the engineering system of the controller.
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3.7 Communication via PROFIBUS
Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒
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3.8 Select telegram
Requirement
In the basic commissioning you have selected the control using PROFIBUS or PROFINET.
Value p0922
1: Standard telegram 1, PZD-2/2 (factory setting, exceptions: CU250D and CU250S)
2: Standard telegramm 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
7: Standard telegram 7, PZD 2/2 (factory setting CU250D)
9: Standard telegram 9, PZD-10/5
20: Standard telegram 20, PZD-2/6
110: SIEMENS telegram 110, PZD-12/7
112: SIEMENS telegram 111, PZD-12/12
350: SIEMENS telegram 350, PZD-4/4
352: SIEMENS telegram 352, PZD-6/6
353: SIEMENS telegram 353, PZD-2/2, PKW-4/4
354: SIEMENS telegram 354, PZD-6/6, PKW-4/4
999: Free telegram
Extend telegram/change signal interconnection (Page 32) (factory setting,
CU250S)
For further information about telegrams:
PROFIDRIVE profile - Cyclic communication (Page 17).
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Communication via EtherNet/IP 4
Overview
EtherNet/IP is real-time Ethernet, and is mainly used in automation technology.
The following options are available for integrating SINAMICS G converters into EtherNet/IP:
• You can use the SINAMICS profile.
• You can use the ODVA AC/DC drive profile.
• You can define the assemblies for the process data using the objects that are supported by
the converter.
See also
Configuring communication (Page 94)
The pin assignment and the connectors that you require for your converter are listed in the
following tables.
You can implement a line-type topology using the two sockets at the converter. You only
require one of the two sockets at the beginning and end of a line.
You can use switches to realize other topologies.
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4.1 Converters with Ethernet/IP interface
G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x
G120C
• G120C PN x
G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
G110M
• CU240M PN x
G115D
• G115D PN x
(X150 P1/P2)
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4.1 Converters with Ethernet/IP interface
Recommended connector
RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 plug 180
can be found on the Internet:
Assembly instructions for the SIMATIC NET Industrial Ethernet FastConnect RJ45 plug
(https://support.industry.siemens.com/cs/ww/en/ps/15251/man)
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Communication via EtherNet/IP
4.2 Connect converter to EtherNet/IP
Overview
To connect the converter to a control system via Ethernet, proceed as follows:
Procedure
1. Connect the converter to the control system via an Ethernet cable.
2. Create an object for data exchange.
You have the following options:
– Load the EDS file into your controller if you want to use the ODVA profile.
You can find the EDS file on the Internet:
EDS (https://support.industry.siemens.com/cs/ww/de/view/78026217)
– If your controller does not accept the EDS file, or if you wish to use the SINAMICS
profile, you must create a generic module in your controller:
Create generic I/O module (Page 110)
You have connected the converter to the control system via EtherNet/IP.
❒
Example
You can find an example showing how to connect a converter to the control system via
Ethernet/IP on the Internet:
Application example (https://support.industry.siemens.com/cs/ww/en/view/82843076)
Further information
You can find information on routing and shielding Ethernet cables on the Internet:
EtherNet/IP
(http://www.odva.org/Home/ODVATECHNOLOGIES/EtherNetIP/EtherNetIPLibrary/tabid/76/lng/
en-US/Default.aspx)
See also
Manuals and technical support (Page 244)
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4.3 What do you need for communication via EtherNet/IP?
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Communication via EtherNet/IP
4.4 Configuring communication
Overview
EtherNet/IP is realtime Ethernet, and is mainly used in automation technology.
Function description
You must set the following parameters to configure the converter communication via
EtherNet/IP:
Procedure
1. p2030 = 10
2. The following parameters must match your EtherNet configuration:
– p8921 = IP address
– p8922 = standard gateway
– p8923 = subnet mask
– p8920 = station name
3. p8925 = 2
4. Select the EtherNet/IP profile:
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Communication via EtherNet/IP
4.4 Configuring communication
Parameter
More information
EtherNet/IP objects and assemblies of the converter:
Supported objects (Page 96)
See also
Overview of the manuals (Page 244)
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Communication via EtherNet/IP
4.5 Supported objects
Overview
Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Reset
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4.5 Supported objects
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Communication via EtherNet/IP
4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
Supported services
Class • Get Attribute all Instance • Forward open
• Get Attribute single • Forward close
• Get Attribute single
• Set Attribute single
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4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
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Communication via EtherNet/IP
4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
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4.5 Supported objects
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Communication via EtherNet/IP
4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
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4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
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4.5 Supported objects
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4.5 Supported objects
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single
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Communication via EtherNet/IP
4.5 Supported objects
Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Set Attribute single
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4.5 Supported objects
Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Set Attribute single
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Communication via EtherNet/IP
4.5 Supported objects
Supported services
Class • Get Attribute all Instance • Get Attribute all
• Set Attribute single
Example: Read parameter 2050[10] (connector output to interconnect the PZD received
from the fieldbus controller)
Get Attribute single function with the following values:
• Class = 401 hex
• Instance = 2050 = 802 hex corresponds to the parameter number
• Attribute = 10 = A hex corresponds to index 10
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4.5 Supported objects
Overview
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Communication via EtherNet/IP
4.6 Create generic I/O module
Overview
For certain controllers, or if you wish to use the SINAMICS profile, you cannot use the EDS file
provided by Siemens. In these cases, you must create a generic I/O module in the control
system for the cyclic communication.
Function description
Procedure
1. In your control, create a generic device with Ethernet/IP functionality.
2. In the control, enter the lengths for the process data for cyclic communication in the new
device which you set in the converter:
r2067[0] (input), r2067[1] (output), e.g.: Standard telegram 2/2
4 ms is supported as the minimum value for RPI (Requested Packet Interval).
3. In the converter, set the same values for IP address, subnet mask, default gateway and name
of the station as in the control.
Configuring communication (Page 94)
You have created a generic I/O module for cyclic communication with the converter.
❒
Further information
You can find a detailed description of how to create a generic I/O module on the Internet:
Generating an EDS file (http://support.automation.siemens.com/WW/view/en/82843076)
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4.7 The converter as an Ethernet station
Procedure
1. Set p8924 (PN DHCP mode) = 2 or 3
– p8924 = 2
The DHCP server assigns the IP address based on the MAC address of the converter
– p8924 = 3
The DHCP server assigns the IP address based on the device name of the converter
2. Save the settings with p8925 = 2. The next time that the converter switches on, it retrieves
the IP address. After this, you can address the converter as an Ethernet node.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EtherNet/IP command "Set Attribute Single" (class F5 hex, attribute 3).
The following options are available:
• Via an EtherNet/IP controller
• Via an EtherNet/IP commissioning tool
Displays
r8930: Device name of the converter
r8934: Operating mode, PN or DHCP
r8935: MAC address
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Communication via EtherNet/IP
4.7 The converter as an Ethernet station
See also
Overview of the manuals (Page 244)
You can find the required settings for the converter as Ethernet node in section "The
converter with PROFINET interface as Ethernet node. (Page 78)".
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Communication via RS485 5
Table 5- 1 Assignment table - fieldbus systems via RS485
• CU230P-2 BT ✓ ✓ ✓ ✓
G120C
• G120C USS/MB ✓ ✓ --- ---
G110M
• CU240M USS ✓ ✓ --- ---
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Communication via RS485
5.1 Converter with RS485 interface
G120
• CU230P-2 HVAC x
• CU230P-2 BT x
• CU240B-2 x
• CU240E-2 x
• CU240E-2 F x
• CU250S-2 x
G120C
• G120C USS/MB x
G110M
• CU240M USS x x
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5.1 Converter with RS485 interface
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Communication via RS485
5.2 Integrating converters into a bus system via the RS485 interface
5.2 Integrating converters into a bus system via the RS485 interface
Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control
Unit with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with
G115D). You can find additional details in the operating instructions for the converter or the
Control Unit.
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5.3 Communication via USS
Overview
Depending on the converter, the following options are available for setting communication
via the USS:
• For all converters with an RS485 interface:
21 "USS Fieldbus"
• For converters with a CU230P-2 HVAC / CU230P-2 BT
108 "BT Mac 8: USS fieldbus"
For additional information, please refer to the operating instructions of your converter.
Overview of the manuals (Page 244).
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5.3 Communication via USS
4. Make additional changes based on the parameters listed in the following section.
5. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now made the settings for communication via USS.
Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒
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5.3 Communication via USS
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5.3 Communication via USS
Overview
A USS telegram comprises a series of elements with a defined sequence. Each element
contains 11 bits.
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5.3 Communication via USS
Overview
The user data of the telegram consist of the following elements:
• Parameter channel (PIV) for writing and reading parameter values
• Process data (PZD) for controlling the drive
Function description
Parameter channel
You specify the length of the parameter channel in parameter p2023:
• p2023 = 0
With this setting, no parameter values are transferred.
• p2023 = 3
You can select this setting if you only want to read or write 16-bit data or alarm signals.
• p2023 = 4:
If you want to read or write 32-bit values (for example indexed parameters or bit
parameters, e.g. r0722.2), then this setting is required. In this case, the send or receive
telegram always contains four words, even if only three would be required. The values are
right-justified in the 4th word.
• p2023 = 127:
If you set p2023 = 127 (variable length), the send and response telegrams are exactly as
long as the task requires.
Process data
Parameter p2022 defines the length for the process data. You can transfer up to eight
process data items in one telegram (p2022 = 0 … 8). For p2022 = 0, no process data is
transferred.
Parameters
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5.3 Communication via USS
Function description
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5.3 Communication via USS
AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number
to the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter chan-
nel interface
1) The required element of the parameter is specified in IND (2nd word).
2) The required element of the indexed parameter is specified in IND (2nd word).
No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot
be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value
limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 with-
out permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tem-
porary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is
illegal for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be
found in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the conerter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter
prevents a parameter change)
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5.3 Communication via USS
No. Description
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies with-
in the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large
for the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not availa-
ble)
Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.
PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the con-
nector
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5.3 Communication via USS
Examples
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)
• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
Parameter number
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5.3 Communication via USS
Indexed parameters
For indexed parameters, you must write the index as hex value into the subindex (IND
bit 7 … 0).
Parameter contents
Parameter contents can be parameter values or connector parameters. You require two
words for connector parameters. You can find more information on interconnecting
connector parameters in the operating instructions of the converter in the section
"Interconnecting signals in the converter".
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• IND, bit 0 … 7 (subindex): = 2 (index of parameter)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
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5.3 Communication via USS
Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the telegram of the parameter
channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
• IND, bit 8 … 15 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• IND, bit 0 … 7 (subindex): = 1 hex (command data set CDS1 = index1)
• PWE1, bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
• PWE2, bit 10 … 15: = 3f hex (drive object - for SINAMICS G120 always 63 = 3f hex)
• PWE2, bit 0 … 9: = 2 hex (index or bit number of the parameter: DI 2 = r0722.2)
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5.3 Communication via USS
Function description
The process data channel (PZD) contains the following data depending on the transmission
direction:
• Control words and setpoints for the slave
• Status words and actual values for the master.
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5.3 Communication via USS
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5.3 Communication via USS
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5.3 Communication via USS
Function description
You require the telegram runtimes in order to set the telegram monitoring. The character
runtime is the basis of the telegram runtime:
Baud rate in bit/s Transmission time per bit Character run time (= 11 bits)
9600 104.170 µs 1.146 ms
19200 52.084 µs 0.573 ms
38400 26.042 µs 0.286 ms
57600 17.361 µs 0.191 ms
115200 8.681 µs 0.095 ms
The telegram runtime is longer than just purely adding all of the character runtimes
(=residual runtime). You must also take into consideration the character delay time between
the individual characters of the telegram.
Figure 5-9 Telegram runtime as the sum of the residual runtime and character delay times
The total telegram runtime is always less than 150% of the pure residual runtime.
Before each request telegram, the master must maintain the start delay. The start delay must
be > 2 × character runtime.
The slave only responds after the response delay has expired.
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5.3 Communication via USS
Baud rate in bit/s Transmission time per character (= 11 bits) Min. start delay
9600 1.146 ms > 2.291 ms
19200 0.573 ms > 1.146 ms
38400 0.286 ms > 0.573 ms
57600 0.191 ms > 0.382 ms
115200 0.095 ms > 0.191 ms
The character delay time must be shorter than the start delay.
Parameters
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5.4 Communication using Modbus RTU
Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit
– is not permissible with this bus system!
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5.4 Communication using Modbus RTU
Overview
Depending on the converter, the following options are available for setting communication
via the Modbus RTU:
• For all converters with an RS485 interface:
21 "USS Fieldbus"
• For converters with a CU230P-2 HVAC / CU230P-2 BT
109 "BT Mac 9: Modbus RTU Fieldbus"
For additional information, please refer to the operating instructions of your converter.
Overview of the manuals (Page 244).
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5.4 Communication using Modbus RTU
Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒
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5.4 Communication using Modbus RTU
General settings
Parity
In the factory, the converter is set for controllers with "parity even". You can adapt the parity
at your controller using p2031:
• p2031 = 0: No parity, 1 stop bit or 2 stop bits
• p2031 = 1: Odd parity, 1 stop bit
• p2031 = 2: Even parity, 1 stop bit
Modbus timing p2024[0 … 2]
• p2024[0]: Maximum slave telegram processing time:
The time after which the slave must have sent a response to the master. 0 ms …
10000 ms, factory setting = 6000 ms.
• p2024[1]: Character delay time:
Character delay time: Maximum permissible time between the individual characters in the
Modbus frame. (Modbus standard processing time for 1.5 bytes).
• p2024 [2]: Inter-telegram delay:
maximum permissible time between Modbus telegrams. (Modbus standard processing
time for 3.5 bytes).
Values for p2024 [1] and p2024 [2]
Table 5-11 Baud rates, transmission times, and delays (Page 139).
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5.4 Communication using Modbus RTU
Example
• AO 0 should display the value written via the control with register 40523. In this particular
case, no other settings are required in the converter.
• AO 1 should display the smoothed current actual value. To do this, you must set
p0771[1] = 27 (r0027 smoothed current actual value).
In this case, a write access via register 40524 to p0791[1] results in a fault message in the
control.
Note
Reset to the factory setting for Modbus
If you have set communication via Modbus (p2030 = 2), when restoring the factory settings,
the analog outputs are again interconnected with p0771[0] = 791[0] and p0771[1] = 791[1].
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5.4 Communication using Modbus RTU
Description
For Modbus, there is precisely one master and up to 247 slaves. The master always starts the
communication. Slaves send data when requested to do so by the master. Slave-to-slave
communication is not possible. The converter always operates as slave.
The following figure shows the structure of a Modbus RTU telegram.
The data area of the telegram is structured according to the mapping tables.
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5.4 Communication using Modbus RTU
Baud rate in bit/s (p2020) Transmission time Minimum pause be- Maximum pause
per character (11 tween two telegrams between two bytes
bits) (p2024[2]) (p2024[1])
4800 2.292 ms ≥ 8.021 ms ≤ 3.438 ms
9600 1.146 ms ≥ 4.010 ms ≤ 1.719 ms
19200 (factory setting) 0.573 ms ≥ 1.75 ms ≤ 0.859 ms
38400 0.286 ms ≥ 1.75 ms ≤ 0.75 ms
57600 0.191 ms ≥ 1.75 ms ≤ 0.556 ms
76800 0.143 ms ≥ 1.75 ms ≤ 0.417 ms
93750 0.117 ms ≥ 1.75 ms ≤ 0.341 ms
115200 0.095 ms ≥ 1.75 ms ≤ 0.278 ms
187500 0.059 ms ≥ 1.75 ms ≤ 0.171 ms
Note
The factory setting for p2024[1] and p2024[2] is 0. The converter defines the particular
values depending on the protocol selection (p2030) or the baud rate.
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5.4 Communication using Modbus RTU
Modbus register
The converter supports the subsequently listed registers. Error "Exception Code" is output if
an attempt is made to access other registers.
Note
Read and write access to converter data
R: read via FC03; W: write via FC06; R/W: read via FC03 or write via FC06
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5.4 Communication using Modbus RTU
Table 5- 13 Assigning the Modbus registers to the parameters - inputs and outputs
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5.4 Communication using Modbus RTU
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5.4 Communication using Modbus RTU
Register Last Description Ac- Unit Scaling ON/OFF text/value Data / parameter
register cess range
40800 Status word R -- 1 0 … 65535 p29529
40801 Motor index speed control R -- 1 0…3 p29538
40802 Status word, service mode R -- 1 0 … 65535 p29544
40804 40805 Motor 1 operating hours R/W h 10 0 … 429496729.5 p29530[0]
40806 40807 Motor 2 operating hours R/W h 10 0 … 429496729.5 p29530[1]
40808 40809 Motor 3 operating hours R/W h 10 0 … 429496729.5 p29530[2]
40810 40811 Motor 4 operating hours R/W h 10 0 … 429496729.5 p29530[3]
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5.4 Communication using Modbus RTU
Error codes
1 hex: Invalid Length (invalid length)
2 hex: Invalid State (in the current converter state, this action is not permitted)
3 hex: Invalid function code (FC ≠ 2F hex)
4 hex: Response not ready (the response has still not been issued)
5 hex: Internal Error (general system error)
Incorrect access operations to parameters via data set 47 are logged in registers
40603 … 40722.
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The response returns register address (bytes 2 and 3) and the value (bytes 4 and 5), which
the higher-level control had written to the register.
For Exception Code 4, via the holding register 40499, you can read out the internal drive
error code, which has occurred for the last parameter access via the holding register.
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5.4 Communication using Modbus RTU
Header
In addition to the slave address, enter the transfer type, the start address and the number of
the following registers in the header.
User data
You control the access in the user data via register 40601.
In register 40602, you define the acyclic access as well as the length of the request data.
Register 40603 contains the request reference - it is defined by the user - and the access type
-reading or writing.
Register 40604 contains the number of the drive object (always 1) and the number of
parameters that are read or written.
Register 40605 contains the attribute that you use to control whether you read out the
parameter value or the parameter attribute. In the number of elements you specify how
many indices are read.
See also
PROFIDRIVE profile - Acyclic communication (Page 49)
Table 5- 26 Write parameter request: Reading the parameter value of r0002 from slave number 17
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Table 5- 27 Start parameter request: Reading the parameter value of r0002 from slave number 17
Table 5- 29 Response for unsuccessful read operation - read request still not completed
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Table 5- 30 Write parameter request: Writing the parameter value of p1121 from slave number 17
Table 5- 31 Start parameter request: Writing the parameter value of p1121 from slave number 17
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Table 5- 33 Response for unsuccessful write operation - write request still not completed
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5.4 Communication using Modbus RTU
Communication error
If the slave detects a communication error on receipt (parity, CRC), it does not send a
response to the master, since this can lead to "setpoint timeout".
Logical error
If the slave detects a logical error within a request, it responds to the master with an
"exception response". In the response, the slave sets the highest bit in the function code to 1.
If the slave receives, for example, an unsupported function code from the master, the slave
responds with an "exception response" with code 01 (Illegal function code).
Note
Adjust the time (factory setting = 100 ms) depending on the number of slaves and the baud
rate set on the bus.
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5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT
BACnet properties
In BACnet, components and systems are considered to be black boxes which contain a
number of objects. BACnet objects only stipulate the behavior outside the device, BACnet sets
no internal functions.
A range of object types and their instances represent one component.
Each BACnet device has precisely one BACnet device object. An NSAP (Network Service Access
Point - comprising network number and MAC address; MAC: Medium Access Control)
uniquely identifies a BACnet device. This address is BACnet-specific and must not be confused
with the Ethernet MAC address.
Communication settings
• The Control Unit supports BACnet via RS485 (BACnet MS/TP),
• Communication supports Unicode, coded with the character set UTF-8
• The maximum cable length is 1200 m (3281 ft).
Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit
– is not permissible with this bus system!
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5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT
Procedure
1. Select the default setting 110
– With Startdrive during commissioning step "Default setting of setpoint/command
sources":
110 "BT Mac 10: BACnet MS/TP fieldbus"
– With the BOP-2 during the basic commissioning under step "MAc PAr P15":
P_F bAc
– Via parameter number:
p0015 = 110
2. Set the converter address.
3. Make additional changes based on the parameters listed in the following sections.
4. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now made the settings for communication via BACnet.
❒
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Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒
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General settings
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The converter can simultaneously process up to 32 SubscribeCOV services. These can all refer
to the same object instances - or different object instances.
SubscribeCOV monitors the property changes of the following objects:
• Analog Input AI…
• Analog Output AO…
• Analog Value AV…
• Binary Value BV…
• Multi-State Input MSI…
Note
SubscribeCOV services are not retentive; i.e. the master must re-initiate the SubscribeCOV
services when restarting the converter.
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• Model_Name • Max_APDU_Length_Accepted 1)
• Firmware_Revision • Segmentation_Supported 2)
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Note
Language switching
Using parameter p2027, you can switch the language of the BACnet object properties
(German, English). Only the English identifiers (e.g. "Object name") are specified in the
following tables.
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Byte Description
2F h 1 Function code 2F h (47),
0A h 2 Request length 10 bytes (0A h)
80 h 3 Request reference = 80 h
01 h 4 Request identifier = 1 h
01 h 5 DO-Id = 1
01 h 6 Number of parameters = 1
10 h 7 Attribute
01 h 8 Number of elements = 1
0002 h 9,10 Parameter number = 2
0000 h 11,12 Subindex = 0
If the request was successfully processed, then you can read out the response precisely once
from the present value window of the OSV1:
Byte Description
2F h 1 Function code 2F h (47)
08 h 2 Response length 8 bytes
80 h 3 Request reference = 80 h
01 h 4 Request identifier = 1 h
01 h 5 DO-Id = 1
01 h 6 Number of parameters = 1
10 h 7 Format
01 h 8 Number of elements = 1
001F h 9,10 Parameter value 1F h = 31
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If the response is still not available, then you receive the following message via the present
value window of the OSV1:
Byte Description
2F h 1 Function code 2F h (47)
00 h 2 Response length 0 (error)
0004 h 3,4 Error code 4 h (response still not available)
If you wish to read the response once more, then you obtain the following message via the
present value window of the OSV1:
Byte Description
2F h 1 Function code 2F h (47)
00 h 2 response length 0 (error)
0002 h 3,4 Error code 2 h (Invalid State)
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5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT
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5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT
Overview
Procedure
Proceed as follows to set communication via P1:
1. Select the default setting 114
– With Startdrive during commissioning step "Default setting of setpoint/command
sources":
114 "BT Mac 14: Communication P1"
– With the BOP-2 during basic commissioning under step "MAc PAr P15":
P_F _P1
– Via parameter number:
p0015 = 114
After selecting default setting 114, the converter automatically sets the following
parameters:
– p2030 = 8: Fieldbus protocol P1
– p2020 = 5: Baud rate 4800 bit/s
– p0840 = 2090.0 The ON/OFF1 command is interconnected with control word 1, bit 0
– p0852 = 2090.3: The signal for "Enable operation" is interconnected with control
word 1, bit 3
– p2103[0] = 2090.7: The signal for "Acknowledge fault" is interconnected with control
word 1, bit 7
2. Set the address.
Irrespective of the address that has been set, every FLN device responds to telegrams with
address 99.
3. Make additional changes based on the parameters listed in the following sections.
4. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now set the communication via P1.
❒
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5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT
Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒
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1*): For reasons of compatibility, these type 1 subpoints can save COV area information.
Point Number 98 RAM TO ROM was implemented in order to be able to save these in a non-
volatile fashion.
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Communication over CANopen 6
General information on CAN
You can find general information about CAN on the Internet:
CAN Internet pages (http://www.can-cia.org)
You can find the CANdictionary with explanations of CAN terminology on the Internet:
CAN downloads (http://www.can-cia.org/index.php?id=6).
--- 1
CAN_L, CAN signal (dominant low) 2
CAN_GND, CAN ground 3
--- 4
(CAN _SHLD), optional shield 5
(CAN_GND), optional ground 6
CAN_H, CAN signal (dominant high) 7
--- 8
--- 9
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COB ID
A communication object contains the data to be transferred and a unique 11-bit COB ID. The
COB ID also defines the priority for processing the communication objects. The
communication object with the lowest COB ID always has the highest priority.
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6.1 Network management (NMT service)
NMT states
The converter state is displayed in p8685.
You can either change the converter state via the control with an NMT telegram, using one of
the command specifiers listed below, or in the converter itself using p8685.
• Initialization: p8685 = 0, Command specifier = 0
The converter initializes itself after power on. In the factory setting, the converter then
enters the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into the
"Pre-Operational" state, but instead into the "Stopped" or "Operational" state.
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6.1 Network management (NMT service)
Note
Sending an incorrect NMT state
If the control sends an incorrect NMT state to the converter, the converter goes into the
"Stopped" state.
Boot-up Service
The boot-up protocol indicates the state of the NMT slave after it has booted (factory setting
"Pre-operational").
Bootup protocol COB ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.
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6.2 SDO services
Properties
The SDOs have the following properties:
• An SDO connection exists only in the Pre-Operational and Operational states
• Transmission is confirmed
• Asynchronous transmission (matches the acyclical communication via PROFIBUS DB)
• Transmission of values > 4 bytes (normal transfer)
• Transmission of values ≤ 4 bytes (expedited transfer)
• All drive unit parameters can be addressed via SDO
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Overview
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6.2 SDO services
Overview
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6.3 PDO services
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6.3 PDO services
COB ID
Overview: Communication over CANopen (Page 177).
Calculating the COB IDs: Predefined connection set (Page 191)
Transmission type
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] … p8707[1] / p8720[1] … p8727[1]) in
the converter:
• Synchronous cyclic (value range: 1 … 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
• Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
• Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.
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For synchronous TPDOs, the transmission mode also identifies the transmission rate as a
factor of the SYNC object transmission intervals.
The CAN controller transfers data from synchronous RPDOs that it received after a SYNC
signal only after the next SYNC signal to the converter.
Note
The SYNC signal synchronizes only the communication on the CANopen bus and not
functions in the converter, e.g. the clock times of the speed control.
Inhibit time
The inhibit time defines the minimum interval between two transmissions.
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6.3 PDO services
PDO services
The following services are available for CANopen:
• PDO Write protocol
• PDO Read protocol
SINAMICS converters support the PDO Write protocol
Write PDO
The "PDO Write protocol" service is based on the push model. The PDO has exactly one
producer. There can be no consumer, one consumer, or multiple consumers.
Via Write PDO, the producer of the PDO sends the data of the mapped application object to
the individual consumer.
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6.3 PDO services
Procedure
1. Specify the process data.
Examples:
– Send current actual value (r0068) from the converter to the controller (TPDO -
Transmit Process Data Object)
– Send additional speed setpoint from the controller to the converter (RPDO - Receive
Process Data Object) and write in p1075
2. Specify objects for transmission of the process data
– TPDO1 for the current actual value
– RPDO1 for additional speed setpoint
3. Define the communication parameters for RPDO and TPDO
– Define communication parameters for RPDO.
RPDO communication parameters (Page 206)
– Define communication parameters for TPDO.
See TPDO communication parameters (Page 209)
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6.3 PDO services
Note
Precondition for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID of
the corresponding parameter to invalid. To do this, add a value of 80000000 hex to the
COB-ID. You must reset the COB-ID to a valid value once you changed the mapping
parameters.
OV index:
Free objects (Page 213)
Objects of the drive profile CiA 402 (Page 214)
You have now configured and mapped the process data.
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Procedure
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters).
Predefined connection set (Page 191)
Free PDO mapping (Page 193)
2. Interconnect parameters:
Interconnect the parameters of the PZD buffer (r2050/r2060, p2051/p2061) corresponding
to the mapping of point "Create telegram" using the mapping table r8750/r8760 or
r8751/r8761. The mapping table indicates the position of a mapped CANopen object in the
PZD buffer.
You have now interconnected the process data.
Examples
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Examples
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6.3.4 Free PDO mapping for example of the actual current value and torque limit
You integrate the actual current value and torque limit into the communication via the free
PDO mapping.
The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1,
respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection
Set.
Procedure
1. Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
– Set the COB-ID of TPDO1 to "invalid":
p8720[0] = 800001B2 hex
– Link the mapping parameter object 2 of TPDO1 (p8730.1) with the OV index for the
actual current value:
p8730.1 = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
– Set the COB-ID of TPDO1 to "valid":
p8720[0] = 400001B2 hex
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1]) = 5810 (actual current value)
3. link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0086[0]
You have now transferred the actual current value into the communication as the send
object.
❒
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Procedure
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
p8700[0] = 80000232 hex
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value)
– Set the COB-ID of RPDO1 to "valid":
p8700[0] = 40000232 hex
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
You have now transferred the value for the torque limit into the communication.
❒
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6.4 CANopen operating modes
You can also use parameters from other CANopen operating modes, independently from the
current effective CANopen operating mode.
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6.5 RAM to ROM via the CANopen object 1010
Note
Save data using objects 1010.2 and 1010.3
Although you can write the communication and/or application parameters to the EEPROM
using objects 1010.2 and 1010.3, you cannot write them to the memory card. This also
means that it is not possible to load the communication data or only the application data
from one converter into the next via the memory card.
Note
With the USB cable inserted, save the data in the converter via the control.
If the converter is connected with a computer via USB but Startdrive cannot access the
converter online, then you cannot save data in the converter using CANopen object 1010.
Withdraw the USB cable from the converter if you wish to save the parameter setting with
object 1010.1 in the converter via the control.
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6.6 Object directories
Overview
The following table lists the drive-independent communication objects. The "SINAMICS
parameters" column shows the parameter numbers assigned in the converter.
OD in- Subindex Object name SINAMICS param- Trans- Data Default Can be read/
dex (hex) eters mission type values written
(hex)
1000 Device type r8600 SDO U32 – r
1001 Error register r8601 SDO U8 – r
1003 0...52 hex Predefined error field p8611[0...82] SDO U32 0 r/w
0 Number of errors p8611.0 SDO U32 0 rw
1 Number of module p8611.1 SDO U32 0 r
2 Number of errors: p8611.2 SDO U32 0 r
module 1
3-A Standard error field: p8611.3- p8611.10 SDO U32 0 r
module 1
B Number of errors: p8611.11 SDO U32 0 r
module 2
C-13 Standard error field: p8611.12- SDO U32 0 r
module 2 p8611.19
14 Number of errors: p8611.20 SDO U32 0 r
module 3
15-1C Standard error field: p8611.21- SDO U32 0 r
module 3 p8611.28
1D Number of errors: p8611.29 SDO U32 0 r
module 4
1E-25 Standard error field: p8611.30- SDO U32 0 r
module 4 p8611.37
26 Number of errors: p8611.38 SDO U32 0 r
module 5
27-2E Standard error field: p8611.39- SDO U32 0 r
module 5 p8611.46
2F Number of errors: p8611.47 SDO U32 0 r
module 6
30-37 Standard error field: p8611.48- SDO U32 0 r
module 6 p8611.55
38 Number of errors: p8611.56 SDO U32 0 r
module 7
39-40 Standard error field: p8611.57- SDO U32 0 r
module 7 p8611.64
41 Number of errors: p8611.65 SDO U32 0 r
module 8
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6.6 Object directories
OD in- Subindex Object name SINAMICS param- Trans- Data Default Can be read/
dex (hex) eters mission type values written
(hex)
42-49 Standard error field: p8611.66- SDO U32 0 r
module 8 p8611.73
4A Number of Control Unit p8611.74 SDO U32 0 r
faults
4B-52 Field Control Unit stand- p8611.75- SDO U32 0 r
ard error p8611.82
1005 SYNCH COB ID p8602 SDO U32 128 rw
1008 Manufacturer device SDO
name
100A Manufacturer software r0018 SDO U32 – r
version
100C Guard time p8604.0 SDO U16 0 rw
100D Lifetime factor p8604.1 SDO U16 0 rw
1010 Store parameters p0971 SDO U16 0 rw
0 Largest subindex sup- SDO
ported
1 Save all parameters p0971 SDO U16 0 rw
2 Save communication p0971 SDO U16 0 rw
parameters (0x1000-
0x1fff)
3 Save application-related p0971 SDO U16 0 rw
parameters (0x6000-
0x9fff)
1011 Restore default parame- p0970 SDO U16 0 rw
ters
0 Largest subindex sup- SDO
ported
1 Restore all default pa- p0970 SDO U16 0 rw
rameters
2 Restore communication p0970 SDO U16 0 rw
default parameters
(0x1000-0x1fff)
3 Restore application de- p0970 SDO U16 0 rw
fault parameters
(0x6000-0x9fff)
1014 COB ID emergency p8603 SDO U32 0 rw
1017 Producer heartbeat time p8606 SDO U16 0 rw
1018 Identy Object r8607[0...3] U32 – r
0 Number of entries SDO
1 Vendor ID r8607.0 SDO U32 – r
2 Product code r8607.1 SDO U32 – r
3 Revision number r8607.2 SDO U32 – r
4 Serial number r8607.3 SDO U32 0 r
1027 Module list
0 Number of entries r0102 SDO U16 – r
1-8 Module ID p0107[0...15] SDO I16 0 rw
1029 Error behavior
0 Number of error classes SDO
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6.6 Object directories
OD in- Subindex Object name SINAMICS param- Trans- Data Default Can be read/
dex (hex) eters mission type values written
(hex)
1 Communication Error p8609.0 SDO U32 1 rw
2 Device profile or manu- p8609.1 SDO U32 1 rw
facturer-specific error
1200 1st server SDO parameter
0 Number of entries SDO
1 COB ID client -> server r8610.0 SDO U32 – r
(rx)
2 COB ID server -> client r8610.1 SDO U32 – r
(tx)
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6.6 Object directories
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6.6 Object directories
OD in- Sub- Name of the object SINAMICS Transmission Data Default Can be
dex in- parameters type setting read/
(hex) dex written
(hex)
Predefinitions
67FF Single device type SDO U32 r
Common entries in the object dictionary
6007 Abort connection option code p8641 SDO I16 3 r/w
6502 Supported drive modes SDO I32 r
6504 Drive manufacturer SDO String SIEMENS r
Device control
6040 Control word r8795 PDO/SDO U16 – r/w
6041 Status word r8784 PDO/SDO U16 – r
605D Halt option code p8791 PDO/SDO I16 – r/w
6060 Modes of operation p1300 SDO I8 – r/w
6061 Modes of operation display r8762 SDO I8 – r
Factor group
6094 Velocity encoder factor SDO U8 - r
01 velocity encoder factor p8798[1] SDO U32 1 r/w
numerator
02 velocity encoder factor p8798[2] SDO U32 1 r/w
denumerator
Profile velocity mode
6063 Actual position value r0482 SDO/PDO I32 – r
6069 Velocity sensor actual value r0061 SDO/PDO I32 – r
606B Velocity demand value r1170 SDO/PDO I32 – r
606C Velocity actual value r0063 SDO/PDO I32 – r
Actual velocity
6083 Profile acceleration p1082/p1120 SDO I32 – r/w
6084 Profile deceleration p1082/p1121 SDO I32 0 r/w
6085 Quick stop deceleration p1082/p1135 SDO I32 0 r/w
6086 Motion profile type p1115/p1134 SDO I32 0 r/w
60FF Target velocity p1155[0] 1) SDO/PDO I32 0 r/w
Set velocity p1072 2)
Profile Torque Mode 3)
6071 Target torque r8797 SDO/PDO I16 – r/w
torque setpoint
6072 Max. torque p1520 SDO 0 0
6074 Torque demand value r0079 SDO/PDO I16 – r
overall torque setpoint
6077 Torque actual value r0080 SDO/PDO I16 – r
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6.6 Object directories
OD in- Sub- Name of the object SINAMICS Transmission Data Default Can be
dex in- parameters type setting read/
(hex) dex written
(hex)
Velocity mode
6042 vl target velocity r8792 SDO/PDO I16 – r/w
6043 vl velocity demand r1170 SDO/PDO I16 – r
6044 vl velocity actual value r0063 SDO/PDO I16 – r
6046 0 vl velocity min./max. amount SDO U8 – r
1 vl velocity min. amount p1080 SDO U32 – r/w
2 vl velocity max. amount p1082 SDO U32 – r/w
6048 0 vl velocity acceleration SDO U8 – r
1 Delta speed p1082 SDO U32 – r/w
2 Delta time p1120 SDO U16 – r/w
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Communication over CANopen
6.7 Integrating the converter into CANopen
Commissioning
Requirement
Procedure
1. Connecting converter to CAN bus (Page 217)
2. Set the node ID, baud rate and the communication monitoring.
Setting the node ID and baud rate (Page 217)"
Setting the monitoring of the communication (Page 218)"
3. Interconnect additional process data
Set p8744 = 2. You can now interconnect other process data.
Free PDO mapping (Page 193)"
4. Signal interconnection of the links created in free PDO mapping.
Interconnect objects from the receive and transmit buffers (Page 197).
5. Exit commissioning
This is carried out in Startdrive in the commissioning wizard.
You have now commissioned the CANopen interface.
Further information about configuring the communication:
Communication over CANopen (Page 177)
Object directories (Page 204).
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6.7 Integrating the converter into CANopen
Node ID
Valid value range: 1 … 127
You have the following options for setting the node ID:
• Using the address switch on the Control Unit:
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Communication over CANopen
6.7 Integrating the converter into CANopen
Procedure
To activate the changed node ID or baud rate, proceed as follows:
1. Switch off the converter supply voltage.
2. Wait until all LEDs on the converter are dark.
3. Switch the converter supply voltage on again.
Your settings become effective after switching on.
You have now activated the changed settings.
• Heartbeat
Principle of operation
• Node guarding:
Is always active if heartbeat is not activated (p8606 = 0). Node guarding means the
master sends monitoring queries to the converter which then answers.
The converter does not monitor the communication. Set the responses to a bus failure in
the master.
• Life guarding:
is active if you use p8604.0 and p8604.1 to set a lifetime ≠ 0.
Life Guarding means that the converter monitors the master's monitoring query and
reports fault F8700 (A) with fault value 2, if a life guarding protocol (life guarding event)
is not received within the lifetime. Set additional responses to a bus failure in the master.
Calculate value for lifetime
Life time = guard time in milliseconds (p8604.0) * life time factor (p8604.1)
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6.7 Integrating the converter into CANopen
Heartbeat
Principle of operation
The slave periodically sends heartbeat messages. Other slaves and the master can monitor
this signal. In the master, set the responses for the case that the heartbeat does not come.
WARNING
OFF command not effective as a result of a bus fault
When the bus has a fault condition, the higher-level control cannot access the converter. If,
as a response to a bus fault p8641 = 0 (no response) is set, then the motor remains
switched-on - even if the higher-level control sends an OFF command to the converter.
• Configure an additional OFF command via terminals.
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Communication over CANopen
6.8 Error diagnostics
LED is bright
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6.8 Error diagnostics
BF Explanation
Data exchange between the converter and control system is active ("Operational" state)
No fieldbus available
RDY When LED RDY flashes simultaneously:
Firmware update failed
Converter waits until the power supply is switched off and switched on again after a firm-
ware update
Display of the operating state using the alarm object (Emergency Object)
Error states are displayed using the alarm object (Emergency Object), OV index 1014 in the
emergency telegram. It has the following structure:
Errors trigger an emergency telegram and cause the drive to shut down.
You can suppress the emergency telegram by setting bit 31 in object 1014 hex to 1.
This means that shutdown is not suppressed, however the fault message is not sent to the
master.
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6.8 Error diagnostics
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6.8 Error diagnostics
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6.9 CAN bus sampling time
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6.9 CAN bus sampling time
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Communication via AS-i – only for G110M and
G115D 7
General information
The converter operates based on the extended AS-i specification V3.0.
The signaling is made as Manchester-coded current pulses superimposed on the 28 V supply.
Decouple the 28 V supply with inductances so that the receivers can decouple the transferred
messages.
The Control Unit power consumption is approx. 90 mA provided you do not use any digital or
analog inputs. When you use digital and analog inputs, the power requirement can be as high
as 300 mA.
The converter supports the Single Slave and Dual Slave modes.
In Single Slave mode, the converter has an address in the AS-i network over which four bits
are transferred. In Dual Slave mode, each converter has two AS-i addresses over each of
which four bits are transferred.
In the Single Slave mode, communication is realized in accordance with protocol 7.F.E. In the
Dual Slave mode, communication is realized in accordance with protocols 7.A.5 and 7.A.E.
Details about the default settings are provided in the operating instructions of your converter.
Overview of the manuals (Page 244)
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Connection
The following table shows the AS-i plug assignment.
More information
You can find more information about connection in the AS-Interface System Manual.
Overview of the manuals (Page 244)
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7.1 Setting the address
Note
Changes made to p2012 and p2013
Changes made to the p2012 and p2013 parameters take effect immediately after the change.
If you work with Startdrive, you must back up the changes so they are not lost when the
system is switched off and on again.
Single Slave
For automatic addressing, the address is specified by the AS-i master. For a Single Slave, the
master checks which slave has address 0 and assigns it the next free address. This address is
also written to parameter p2012. If more than one slave has address 0, an automatic
addressing is not possible.
Dual Slave
For automatic addressing, the address is specified by the AS-i master. If both slaves have
address 0, the second slave is hidden and the control assigns a valid address for slave 1.
Slave 2 then becomes visible with address 0 and can be addressed.
Automatic addressing is not always possible for older AS-i masters. In this case, use the
manual addressing and set the address from an addressing device, via Startdrive or from an
operator panel on the converter.
You can find more information in the AS-Interface System Manual, "Setting the AS-i address"
section.
Overview of the manuals (Page 244)
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7.1 Setting the address
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7.2 Single Slave mode
Table 7-3 Fixed speeds via the motor control bits (Page 236).
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 237).
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Communication via AS-i – only for G110M and G115D
7.2 Single Slave mode
Table 7-4 Scaling of the speed setpoint via AS-i.P0 … AS-i.P3 (Page 236).
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7.3 Dual Slave mode
Default setting 31, slave 2 with profile 7.A.E: Control -> converter
Table 7-5 Fixed speeds via the motor control bits and response in the converter
(Page 237).
If the control specifies the speed setpoint, the converter replies:
Default setting 31, slave 2 with profile 7.A.E: Converter -> control
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 237).
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Communication via AS-i – only for G110M and G115D
7.3 Dual Slave mode
Default setting 31, slave 1 with profile 7.A.5: Control -> converter
• AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master
• AS-i.DO1 -> Data bit for the CTT2 transfer, four bytes cyclically or acyclically via
PIV. The reading and writing of parameters is possible via the PIV.
Because data is transferred bit-by-bit, the read and write process is
very slow.
• AS-i.DO2 -> p0881 = 2093.4 Override quick stop
• AS-i.DO3 -> Select slave A or slave B, interconnected internally
Default setting 31, slave 1 with profile 7.A.5: Converter -> control
Default setting 34: Dual Slave mode with setpoint via AS-i field bus
The control accesses the two slaves of the converter each via four bits.
Via slave 2, in accordance with profile 7.A.E, the control specifies the commands listed below
(AS-i.DO0 … AS-i.DO2).
Via slave 1, the control sends the command for quick stop and the data in cyclical or acyclical
mode.
The control requires one bit per slave in order to specify the slave.
Default setting 34, slave 2 with profile 7.A.E: Control -> converter
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7.3 Dual Slave mode
Default setting 34, slave 2 with profile 7.A.E: Converter -> control
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 237).
Default setting 34, slave 1 with profile 7.A.5: Control -> converter
• AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master
• AS-i.DO1 -> Data bit for the CTT2 transfer, four bytes cyclically or acyclically via
PIV. The reading and writing of parameters is possible via the PIV.
Because data is transferred bit-by-bit, the read and write process is
very slow.
• AS-i.DO2 -> p0881 = 2093.4 Override quick stop
• AS-i.DO3 -> Select slave A or slave B, interconnected internally
Default setting 34, slave 1 with profile 7.A.5: Converter -> control
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7.4 Assignment tables
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7.4 Assignment tables
Table 7- 5 Fixed speeds via the motor control bits and response in the converter
Table 7- 6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i master
RP3 RP2 RP1 RP0 AS-i.P0 = 0 -> alarm messages AS-i.P0 = 1 -> faults
0 0 0 0 No alarm No fault
0 0 0 1 not used Temperature rise F30004, F30012,
F30013, F30024, F30025, F30036
0 0 1 0 not used not used
0 0 1 1 No load (A07929) not used
0 1 0 0 Temperature rise (A05000, I2t overload (F30005, F07936)
A05004, A05006, A07012,
A07015)
0 1 0 1 Overvoltage (A07400, A30502) Equipment malfunction (F01000 ...
F01257)
0 1 1 0 Keyswitch off (A03560)1) not used
0 1 1 1 Undervoltage (A07402, A30016) Motor-PTC sensor malfunction
(F07011, F07016)
1 0 0 0 I2t overload (A07805) Overvoltage (F30002, F30011)
1 0 0 1 not used not used
1 0 1 0 LOCAL Mode active (A03561)1) not used
1 0 1 1 not used Undervoltage (F30003, F07802)
1 1 0 0 not used Short-circuit at the output (F30001,
F30017, F30021, F07801, F07807,
F07900)
1 1 0 1 Motor phase loss (A30015)2) Motor phase loss (F30015, F07902)
1 1 1 0 not used Safety fault (F016xx)
1 1 1 1 Other alarms Other faults
1) Only for G115D
2) Only if F30015 was reparameterized as an alarm
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7.5 Cyclic and acyclic communication via CTT2
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7.5 Cyclic and acyclic communication via CTT2
If an acyclical request cannot be executed by the converter, it replies with one of the
following error messages.
Note
Internal interconnection with default setting 34
If, when commissioning, you select "Default setting 34", then the main setpoint is internally
interconnected with r2050[1].
Once a setpoint has been transferred completely, the setpoint present in the control will be
transferred as next setpoint. Any setpoint changes made during the transfer are not
considered.
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7.5 Cyclic and acyclic communication via CTT2
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7.5 Cyclic and acyclic communication via CTT2
Data exchange
Reading data
The data for the last write or exchange request is read
Writing data
In the event of a fault, the converter sends the following telegram as response to the master:
.
Value for PWE: Fault table from USS parameter channel (Page 122).
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Communication via AS-i – only for G110M and G115D
7.5 Cyclic and acyclic communication via CTT2
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Appendix A
A.1 Application examples for communication with STEP7
Application examples for communication with STEP 7 can be found in the following manual:
"Fieldbuses" function manual, edition 09/2017
(https://support.industry.siemens.com/cs/ww/en/view/109751350)
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Appendix
A.2 Manuals and technical support
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Appendix
A.2 Manuals and technical support
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Appendix
A.2 Manuals and technical support
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Appendix
A.2 Manuals and technical support
Configuring a manual
Further information about the configurability of manuals is available in the Internet:
MyDocumentationManager
(https://www.industry.siemens.com/topics/global/en/planning-
efficiency/documentation/Pages/default.aspx).
Select "Display and configure" and add the manual to your "mySupport-documentation":
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Appendix
A.2 Manuals and technical support
Catalog
Ordering data and technical information for the converters SINAMICS G.
SIZER
The configuration tool for SINAMICS, MICROMASTER and DYNAVERT T drives, motor starters,
as well as SINUMERIK, SIMOTION controllers and SIMATIC technology
SIZER on DVD:
Article number: 6SL3070-0AA00-0AG0
Download SIZER (https://support.industry.siemens.com/cs/ww/en/view/54992004)
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Appendix
A.2 Manuals and technical support
Overview
You can find additional information about the product on the Internet:
Product support (https://support.industry.siemens.com/cs/ww/en/)
This URL provides the following:
• Up-to-date product information (product announcements)
• FAQs
• Downloads
• The Newsletter contains the latest information on the products you use.
• The Knowledge Manager (Intelligent Search) helps you find the documents you need.
• Users and specialists from around the world share their experience and knowledge in the
Forum.
• You can find your local representative for Automation & Drives via our contact database
under "Contact & Partner".
• Information about local service, repair, spare parts and much more can be found under
"Services".
If you have any technical questions, use the online form in the "Support Request" menu:
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Appendix
A.2 Manuals and technical support
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Index
A E
Acyclic communication, 49 EMCY, 178
Application example, 47, 83, 83, 153 Extending the telegram, 33
Reading and writing parameters cyclically via
PROFIBUS, 47
F
Function Manual, 244
C
CAN
COB, 178 G
COB ID, 179
GSD (Generic Station Description), 84
Device profile, 178
GSDML (Generic Station Description Markup
EMCY, 178
Language), 71
NMT, 178
SDO, 178
SYNC, 178
H
CANopen communication profile, 178
Catalog, 248 Hotline, 249
Checklist
PROFINET, 71, 93
COB, 178 I
COB ID, 179
IND (page index), 39, 43, 44, 124, 125
Communication
Industry Mall, 248
Acyclic, 49
Cyclically, 17
Configuring support, 248
L
Control word
Control word 1, 22, 128 List Manual, 244
Control word 2, 24
Control word 3, 25
Control word 2 (STW2), 24 M
Control word 3 (STW3), 25
Maximum cable length
Cyclic communication, 20, 32
Modbus, 133
PROFIBUS, 84
PROFINET, 70
D
USS, 117
Data set 47 (DS), 49 MELD_NAMUR (fault word according to the VIK-Namur
DC braking, 25 definition), 27
Device profile, 178
Direct data exchange, 48
Drive-independent communication objects, 204 N
DS 47, 49
Network management (NMT service), 180
NMT, 178
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Index
O U
Operating instruction, 3 USS (universal serial interface), 117, 122
Operating Instructions, 244
Z
P ZSW1 (status word 1), 23
Page index, 125 ZSW3 (status word 3), 26
Parameter channel, 37, 122 ZWST1 (status word 1), 130
IND, 39, 43, 44, 124, 125
Parameter index, 39, 43, 44, 124, 125
Parameter number, 39, 43, 44, 124
Parameter value, 49
PDO, 187
Procedure, 3
PROFIBUS, 83
PROFIenergy, 74
Pulse cancellation, 22, 128
Pulse enable, 22, 128
Q
Questions, 249
R
RS485 interface, 116
S
SDO, 178, 184
SDO services, 183
SIZER, 248
Status word
Status word 1, 23, 130
Status word 2, 24
Status word 3, 26
Status word 1 (ZSW2), 24
STW1 (control word 1), 22, 128
Subindex, 39, 43, 44, 124, 125
Support, 249
Switching on inhibited, 22, 129
Symbols, 3
SYNC, 178
T
Technology controller, 25
Fieldbuses
252 Function Manual, 11/2020, FW V4.7 SP13, A5E34229197B AG